基于Cosserat力学理论的仿生机械臂建模  

Modeling of Biomimetic Manipulator Based on Cosserat Mechanics Theory

作　　者：陈明航 杨晓英 CHEN Minghang;YANG Xiaoying(Nanyang Vocational College,Nanyang 474500,China)

机构地区：[1]南阳职业学院,河南南阳474500

出　　处：《机械制造与自动化》2023年第2期96-100,共5页Machine Building & Automation

基　　金：河南省高校人文社会科学研究一般项目(2022-ZZJH-151);2021年度南阳市哲学社会科学规划项目(222)。

摘　　要：针对软体动物运动不确定性导致建模难度大的问题,基于Cosserat力学理论构建章鱼仿生机械臂运动学方程和动力学方程,分别采用数值法和Newton-Euler迭代法对方程进行求解,得到仿生机械臂的运动轨迹;搭建章鱼仿生机械臂实验平台进行验证。结果表明:章鱼仿生臂末端的运动误差与理论误差坐标相差7.2 mm,位移误差和速度误差逐步趋近于0。验证了模型及求解方法的可行性,为解决软体机械臂建模的不确定性提供新的参考。To overcome the difficulty in modeling caused by the uncertainty of mollusc motion,the kinematics and dynamics equations of Octopus bionic manipulator are constructed based on the discretization characteristics of Cosserat mechanics theory,and numerical method and Newton-Euler iterative method are applied respectively to solve the equations,so as to abtain the motion trajectory of the bionic manipulator.The experimental platform of Octopus bionic manipulator is built for verification.The results show that the motion error of the octopus bionic arm end is 7.2 mm different from the theoretical error coordinate;the displacement error and velocity error of Octopus bionic arm gradually approach zero,which verifies the feasibilty of above-mentioned models and equations,and provides new reference for solving the uncertainty of software manipulator modeling.

关 键 词：章鱼仿生臂 Cosserat力学理论 Newton-Euler迭代算法 运动学方程 动力学模型 

分 类 号：TH113[机械工程—机械设计及理论]